Colony » Colony Scout

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file EncodersControl.cpp

 * @brief Contains encoder function implementation

 *

 * @defgroup encoderscontrol EncodersControl

 * @brief Functions which a behavior can use to control the encoders.

 * @ingroup behavior

 * 

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 */

#include "EncodersControl.h"

using namespace std;

/**

 * @brief Initialize the encoders module of libscout.

 */

EncodersControl::EncodersControl(const ros::NodeHandle& libscout_node,

                                 string scoutname)

    : node(libscout_node)

{

    query_client = node.serviceClient< ::messages::query_encoders>(

            scoutname+"/query_encoders");

    reset_client = node.serviceClient< ::messages::reset_encoders>(

            scoutname+"/reset_encoders");

}

/**

 * @brief Returns the current tick count of the encoders.

 */

encoder_readings EncodersControl::query()

{

    // Set scan range

    ::messages::query_encoders srv;

    encoder_readings cur_readings;

    if (!query_client.call(srv))

    {

        ROS_ERROR("EncodersControl query failed.");

    }

    cur_readings.fl_ticks = srv.response.fl_distance;

    cur_readings.fr_ticks = srv.response.fr_distance;

    cur_readings.bl_ticks = srv.response.bl_distance;

    cur_readings.br_ticks = srv.response.br_distance;

    return cur_readings;

}

/**

 * @brief Resets the encoder tick count to 0.

 */

void EncodersControl::reset()

{

    ::messages::reset_encoders srv;

    if (!reset_client.call(srv))

    {

        ROS_ERROR("EncodersControl reset failed.");

    }

}

/** @} */